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<a href="#nested-classes">类</a> &#124;
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1_real_sense_grabber-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::RealSenseGrabber类 参考</div>  </div>
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类 pcl::RealSenseGrabber 继承关系图:</div>
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<area href="classpcl_1_1_grabber.html" title="Grabber interface for PCL 1.x device drivers" alt="pcl::Grabber" shape="rect" coords="0,0,142,24"/>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:af8dac16c26e23cfdaeaac9622a6075e9"><td class="memItemLeft" align="right" valign="top"><a id="af8dac16c26e23cfdaeaac9622a6075e9"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>TemporalFilteringType</b> { <b>RealSense_None</b> = 0
, <b>RealSense_Median</b> = 1
, <b>RealSense_Average</b> = 2
 }</td></tr>
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typedef void()&#160;</td><td class="memItemRight" valign="bottom"><b>sig_cb_real_sense_point_cloud</b>(const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a> &gt;::ConstPtr &amp;)</td></tr>
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typedef void()&#160;</td><td class="memItemRight" valign="bottom"><b>sig_cb_real_sense_point_cloud_rgba</b>(const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a> &gt;::ConstPtr &amp;)</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:ac2db013955b4a5eda639a8f7de8636d4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#ac2db013955b4a5eda639a8f7de8636d4">RealSenseGrabber</a> (const std::string &amp;device_id=&quot;&quot;, const <a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a> &amp;mode=<a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a>(), bool strict=false)</td></tr>
<tr class="separator:ac2db013955b4a5eda639a8f7de8636d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a313562aa36f4a39234bebde1317b6e"><td class="memItemLeft" align="right" valign="top"><a id="a2a313562aa36f4a39234bebde1317b6e"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a2a313562aa36f4a39234bebde1317b6e">start</a> ()</td></tr>
<tr class="memdesc:a2a313562aa36f4a39234bebde1317b6e"><td class="mdescLeft">&#160;</td><td class="mdescRight">For devices that are streaming, the streams are started by calling this method. Trigger-based devices, just trigger the device once for each call of start. <br /></td></tr>
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<tr class="memitem:a2bef56efffa3d29f0f98c170f10971a2"><td class="memItemLeft" align="right" valign="top"><a id="a2bef56efffa3d29f0f98c170f10971a2"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a2bef56efffa3d29f0f98c170f10971a2">stop</a> ()</td></tr>
<tr class="memdesc:a2bef56efffa3d29f0f98c170f10971a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">For devices that are streaming, the streams are stopped. This method has no effect for triggered devices. <br /></td></tr>
<tr class="separator:a2bef56efffa3d29f0f98c170f10971a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d33159677dfd031e408b9b0b627b367"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a3d33159677dfd031e408b9b0b627b367">isRunning</a> () const</td></tr>
<tr class="memdesc:a3d33159677dfd031e408b9b0b627b367"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicates whether the grabber is streaming or not. This value is not defined for triggered devices.  <a href="classpcl_1_1_real_sense_grabber.html#a3d33159677dfd031e408b9b0b627b367">更多...</a><br /></td></tr>
<tr class="separator:a3d33159677dfd031e408b9b0b627b367"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a922a07c6f3e1c1b811c42fa1fd2422bb"><td class="memItemLeft" align="right" valign="top">virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a922a07c6f3e1c1b811c42fa1fd2422bb">getName</a> () const</td></tr>
<tr class="memdesc:a922a07c6f3e1c1b811c42fa1fd2422bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the name of the concrete subclass.  <a href="classpcl_1_1_real_sense_grabber.html#a922a07c6f3e1c1b811c42fa1fd2422bb">更多...</a><br /></td></tr>
<tr class="separator:a922a07c6f3e1c1b811c42fa1fd2422bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a0764d728d493060dc8fe81d75f8429"><td class="memItemLeft" align="right" valign="top"><a id="a6a0764d728d493060dc8fe81d75f8429"></a>
virtual float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a6a0764d728d493060dc8fe81d75f8429">getFramesPerSecond</a> () const</td></tr>
<tr class="memdesc:a6a0764d728d493060dc8fe81d75f8429"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns fps. 0 if trigger based. <br /></td></tr>
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<tr class="memitem:acceb4d31e228cbde706747a7d55115fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#acceb4d31e228cbde706747a7d55115fb">setConfidenceThreshold</a> (unsigned int threshold)</td></tr>
<tr class="separator:acceb4d31e228cbde706747a7d55115fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af71b1ad3fdbea98346f125e42eebc376"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#af71b1ad3fdbea98346f125e42eebc376">enableTemporalFiltering</a> (TemporalFilteringType type, size_t window_size)</td></tr>
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<tr class="memitem:a809db639fd84dd583a4e330bfb388691"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a809db639fd84dd583a4e330bfb388691">disableTemporalFiltering</a> ()</td></tr>
<tr class="separator:a809db639fd84dd583a4e330bfb388691"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac6a59a3fa0670328434f6a4d0003aba7"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#ac6a59a3fa0670328434f6a4d0003aba7">getDeviceSerialNumber</a> () const</td></tr>
<tr class="separator:ac6a59a3fa0670328434f6a4d0003aba7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51a86f26171309d24e10bf0283c02e31"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a51a86f26171309d24e10bf0283c02e31">getAvailableModes</a> (bool only_depth=false) const</td></tr>
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<tr class="memitem:a12137a917228ddab4669ada9b603cb33"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a12137a917228ddab4669ada9b603cb33">setMode</a> (const <a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a> &amp;mode, bool strict=false)</td></tr>
<tr class="separator:a12137a917228ddab4669ada9b603cb33"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abfc4e17662cc68283ce1c8a983275eb1"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#abfc4e17662cc68283ce1c8a983275eb1">getMode</a> () const</td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_grabber"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_grabber')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_grabber.html">pcl::Grabber</a></td></tr>
<tr class="memitem:ad1bd77c0344f3cf3283757daddb4fe9d inherit pub_methods_classpcl_1_1_grabber"><td class="memItemLeft" align="right" valign="top"><a id="ad1bd77c0344f3cf3283757daddb4fe9d"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_grabber.html#ad1bd77c0344f3cf3283757daddb4fe9d">Grabber</a> ()</td></tr>
<tr class="memdesc:ad1bd77c0344f3cf3283757daddb4fe9d inherit pub_methods_classpcl_1_1_grabber"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:ad1bd77c0344f3cf3283757daddb4fe9d inherit pub_methods_classpcl_1_1_grabber"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c8545d6fe2aadc0fe8ba9643f80c1fc inherit pub_methods_classpcl_1_1_grabber"><td class="memItemLeft" align="right" valign="top"><a id="a1c8545d6fe2aadc0fe8ba9643f80c1fc"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_grabber.html#a1c8545d6fe2aadc0fe8ba9643f80c1fc">~Grabber</a> ()  throw ()</td></tr>
<tr class="memdesc:a1c8545d6fe2aadc0fe8ba9643f80c1fc inherit pub_methods_classpcl_1_1_grabber"><td class="mdescLeft">&#160;</td><td class="mdescRight">virtual desctructor. <br /></td></tr>
<tr class="separator:a1c8545d6fe2aadc0fe8ba9643f80c1fc inherit pub_methods_classpcl_1_1_grabber"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a35dc83ee946b0bd5d0a7cbad4df7427b inherit pub_methods_classpcl_1_1_grabber"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a35dc83ee946b0bd5d0a7cbad4df7427b inherit pub_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">boost::signals2::connection&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_grabber.html#a35dc83ee946b0bd5d0a7cbad4df7427b">registerCallback</a> (const boost::function&lt; T &gt; &amp;callback)</td></tr>
<tr class="memdesc:a35dc83ee946b0bd5d0a7cbad4df7427b inherit pub_methods_classpcl_1_1_grabber"><td class="mdescLeft">&#160;</td><td class="mdescRight">registers a callback function/method to a signal with the corresponding signature  <a href="classpcl_1_1_grabber.html#a35dc83ee946b0bd5d0a7cbad4df7427b">更多...</a><br /></td></tr>
<tr class="separator:a35dc83ee946b0bd5d0a7cbad4df7427b inherit pub_methods_classpcl_1_1_grabber"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aed2b00928603dfd9e51cfb22adbedae6 inherit pub_methods_classpcl_1_1_grabber"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:aed2b00928603dfd9e51cfb22adbedae6 inherit pub_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_grabber.html#aed2b00928603dfd9e51cfb22adbedae6">providesCallback</a> () const</td></tr>
<tr class="memdesc:aed2b00928603dfd9e51cfb22adbedae6 inherit pub_methods_classpcl_1_1_grabber"><td class="mdescLeft">&#160;</td><td class="mdescRight">indicates whether a signal with given parameter-type exists or not  <a href="classpcl_1_1_grabber.html#aed2b00928603dfd9e51cfb22adbedae6">更多...</a><br /></td></tr>
<tr class="separator:aed2b00928603dfd9e51cfb22adbedae6 inherit pub_methods_classpcl_1_1_grabber"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:a09c018cfacb829da766b02cabaf95f23"><td class="memItemLeft" align="right" valign="top"><a id="a09c018cfacb829da766b02cabaf95f23"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>run</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>createDepthBuffer</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>selectMode</b> ()</td></tr>
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<tr class="memitem:a3dc9d3d9898fdbb0d852639ae706d4ec"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a3dc9d3d9898fdbb0d852639ae706d4ec">computeModeScore</a> (const <a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a> &amp;mode)</td></tr>
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Private 属性</h2></td></tr>
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boost::signals2::signal&lt; sig_cb_real_sense_point_cloud &gt; *&#160;</td><td class="memItemRight" valign="bottom"><b>point_cloud_signal_</b></td></tr>
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boost::signals2::signal&lt; sig_cb_real_sense_point_cloud_rgba &gt; *&#160;</td><td class="memItemRight" valign="bottom"><b>point_cloud_rgba_signal_</b></td></tr>
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boost::shared_ptr&lt; <a class="el" href="classpcl_1_1io_1_1real__sense_1_1_real_sense_device.html">pcl::io::real_sense::RealSenseDevice</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>device_</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_running_</b></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>confidence_threshold_</b></td></tr>
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TemporalFilteringType&#160;</td><td class="memItemRight" valign="bottom"><b>temporal_filtering_type_</b></td></tr>
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size_t&#160;</td><td class="memItemRight" valign="bottom"><b>temporal_filtering_window_size_</b></td></tr>
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<a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a8bb73ba9176a1df42be02e7eac5fad08">mode_requested_</a></td></tr>
<tr class="memdesc:a8bb73ba9176a1df42be02e7eac5fad08"><td class="mdescLeft">&#160;</td><td class="mdescRight">Capture mode requested by the user at construction time <br /></td></tr>
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<tr class="memitem:acd089f25f883c04abc7686855710ec4a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#acd089f25f883c04abc7686855710ec4a">strict_</a></td></tr>
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<tr class="memitem:a8563b6a9027821888fd3f73cbcaabbf5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a8563b6a9027821888fd3f73cbcaabbf5">mode_selected_</a></td></tr>
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<tr class="memitem:af4d2fa66ef223d1409af0235e46ed0f2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#af4d2fa66ef223d1409af0235e46ed0f2">need_xyz_</a></td></tr>
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<tr class="memitem:a70690d670c8fbeccb01da73694e23136"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#a70690d670c8fbeccb01da73694e23136">need_xyzrgba_</a></td></tr>
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<a class="el" href="classpcl_1_1_event_frequency.html">EventFrequency</a>&#160;</td><td class="memItemRight" valign="bottom"><b>frequency_</b></td></tr>
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<tr class="memitem:a3575aa284bfe65fc2372fd992a2266bb"><td class="memItemLeft" align="right" valign="top"><a id="a3575aa284bfe65fc2372fd992a2266bb"></a>
boost::mutex&#160;</td><td class="memItemRight" valign="bottom"><b>fps_mutex_</b></td></tr>
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boost::thread&#160;</td><td class="memItemRight" valign="bottom"><b>thread_</b></td></tr>
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boost::shared_ptr&lt; <a class="el" href="classpcl_1_1io_1_1_buffer.html">pcl::io::Buffer</a>&lt; unsigned short &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_real_sense_grabber.html#adc959d0b9579e47308cb2771d97eb66f">depth_buffer_</a></td></tr>
<tr class="memdesc:adc959d0b9579e47308cb2771d97eb66f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Depth buffer to perform temporal filtering of the depth images <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_grabber"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_grabber')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_grabber.html">pcl::Grabber</a></td></tr>
<tr class="memitem:a1eaf930e8f5bc9befdf9e7e3dd85cab3 inherit pro_methods_classpcl_1_1_grabber"><td class="memItemLeft" align="right" valign="top"><a id="a1eaf930e8f5bc9befdf9e7e3dd85cab3"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>signalsChanged</b> ()</td></tr>
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template&lt;typename T &gt; </td></tr>
<tr class="memitem:a29a1f6e6e197519b08536b6095d28ccc inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">boost::signals2::signal&lt; T &gt; *&#160;</td><td class="memTemplItemRight" valign="bottom"><b>find_signal</b> () const</td></tr>
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template&lt;typename T &gt; </td></tr>
<tr class="memitem:ae87e7482328a297a95396467e0e28856 inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">int&#160;</td><td class="memTemplItemRight" valign="bottom"><b>num_slots</b> () const</td></tr>
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template&lt;typename T &gt; </td></tr>
<tr class="memitem:aa9ade6bd29a46f6acb411a7968f99ae8 inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>disconnect_all_slots</b> ()</td></tr>
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template&lt;typename T &gt; </td></tr>
<tr class="memitem:aceece1bd68187c109b289567c33536b9 inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>block_signal</b> ()</td></tr>
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<tr class="memitem:a25c1f3c966c486be2b01fe11d2d0df5a inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplParams" colspan="2"><a id="a25c1f3c966c486be2b01fe11d2d0df5a"></a>
template&lt;typename T &gt; </td></tr>
<tr class="memitem:a25c1f3c966c486be2b01fe11d2d0df5a inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>unblock_signal</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>block_signals</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>unblock_signals</b> ()</td></tr>
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template&lt;typename T &gt; </td></tr>
<tr class="memitem:a3e1ee7a265cee458f59414de47a34ed2 inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">boost::signals2::signal&lt; T &gt; *&#160;</td><td class="memTemplItemRight" valign="bottom"><b>createSignal</b> ()</td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_grabber"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_grabber')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_grabber.html">pcl::Grabber</a></td></tr>
<tr class="memitem:a0e74a0908693c0c948452476d0102dac inherit pro_attribs_classpcl_1_1_grabber"><td class="memItemLeft" align="right" valign="top"><a id="a0e74a0908693c0c948452476d0102dac"></a>
std::map&lt; std::string, boost::signals2::signal_base * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>signals_</b></td></tr>
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<tr class="memitem:a63415b3517806c488fa840c54cacb5ad inherit pro_attribs_classpcl_1_1_grabber"><td class="memItemLeft" align="right" valign="top"><a id="a63415b3517806c488fa840c54cacb5ad"></a>
std::map&lt; std::string, std::vector&lt; boost::signals2::connection &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>connections_</b></td></tr>
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<tr class="memitem:a9d8b3dcbecbe76b1f58978ed1b3a222f inherit pro_attribs_classpcl_1_1_grabber"><td class="memItemLeft" align="right" valign="top"><a id="a9d8b3dcbecbe76b1f58978ed1b3a222f"></a>
std::map&lt; std::string, std::vector&lt; boost::signals2::shared_connection_block &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>shared_connections_</b></td></tr>
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</table>
<h2 class="groupheader">构造及析构函数说明</h2>
<a id="ac2db013955b4a5eda639a8f7de8636d4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac2db013955b4a5eda639a8f7de8636d4">&#9670;&nbsp;</a></span>RealSenseGrabber()</h2>

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          <td class="memname">pcl::RealSenseGrabber::RealSenseGrabber </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>device_id</em> = <code>&quot;&quot;</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a> &amp;&#160;</td>
          <td class="paramname"><em>mode</em> = <code><a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
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        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Create a grabber for a RealSense device.</p>
<p>The grabber "captures" the device, making it impossible for other grabbers to interact with it. The device is "released" when the grabber is destructed.</p>
<p>This will throw <a class="el" href="classpcl_1_1io_1_1_i_o_exception.html" title="General IO exception class">pcl::io::IOException</a> if there are no free devices that match the supplied <em>device_id</em>.</p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">device_id</td><td>device identifier, which can be a serial number, a zero-based index (with '#' prefix), or an empty string (to select the first available device) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">mode</td><td>desired framerate and stream resolution (see <a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a>). If the default is supplied, then the mode closest to VGA at 30 Hz will be chosen. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">strict</td><td>if set to <code>true</code>, an exception will be thrown if device does not support exactly the mode requsted. Otherwise the closest available mode is selected. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a3dc9d3d9898fdbb0d852639ae706d4ec"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3dc9d3d9898fdbb0d852639ae706d4ec">&#9670;&nbsp;</a></span>computeModeScore()</h2>

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          <td class="memname">float pcl::RealSenseGrabber::computeModeScore </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a> &amp;&#160;</td>
          <td class="paramname"><em>mode</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">private</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">
<p>Compute a score which indicates how different is a given mode is from the mode requested by the user.</p>
<p>Importance of factors: fps &gt; depth resolution &gt; color resolution. The lower the score the better. </p>

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</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a809db639fd84dd583a4e330bfb388691">&#9670;&nbsp;</a></span>disableTemporalFiltering()</h2>

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          <td class="memname">void pcl::RealSenseGrabber::disableTemporalFiltering </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Disable temporal filtering. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#af71b1ad3fdbea98346f125e42eebc376">&#9670;&nbsp;</a></span>enableTemporalFiltering()</h2>

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          <td class="memname">void pcl::RealSenseGrabber::enableTemporalFiltering </td>
          <td>(</td>
          <td class="paramtype">TemporalFilteringType&#160;</td>
          <td class="paramname"><em>type</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>window_size</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
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<p>Enable temporal filtering of the depth data received from the device.</p>
<p>The window size parameter is not relevant for <code>RealSense_None</code> filtering type.</p>
<dl class="section note"><dt>注解</dt><dd>if the grabber is running and the new parameters are different from the current parameters, grabber will be restarted. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#a51a86f26171309d24e10bf0283c02e31">&#9670;&nbsp;</a></span>getAvailableModes()</h2>

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          <td class="memname">std::vector&lt;<a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a>&gt; pcl::RealSenseGrabber::getAvailableModes </td>
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<p>Get a list of capturing modes supported by the PXC device controlled by this grabber.</p>
<dl class="params"><dt>参数</dt><dd>
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<dl class="section note"><dt>注解</dt><dd>: this list exclude modes where framerates of the depth and color streams do not match. </dd></dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ac6a59a3fa0670328434f6a4d0003aba7">&#9670;&nbsp;</a></span>getDeviceSerialNumber()</h2>

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<p>Get the serial number of device captured by the grabber. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#abfc4e17662cc68283ce1c8a983275eb1">&#9670;&nbsp;</a></span>getMode()</h2>

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<p>Get currently active capturing mode.</p>
<dl class="section note"><dt>注解</dt><dd>: capturing mode is selected when <a class="el" href="classpcl_1_1_real_sense_grabber.html#a2a313562aa36f4a39234bebde1317b6e" title="For devices that are streaming, the streams are started by calling this method. Trigger-based devices...">start()</a> is called; output of this function before grabber was started is undefined. </dd></dl>
<div class="fragment"><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_real_sense_grabber.html#a8563b6a9027821888fd3f73cbcaabbf5">mode_selected_</a>);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_real_sense_grabber_html_a8563b6a9027821888fd3f73cbcaabbf5"><div class="ttname"><a href="classpcl_1_1_real_sense_grabber.html#a8563b6a9027821888fd3f73cbcaabbf5">pcl::RealSenseGrabber::mode_selected_</a></div><div class="ttdeci">Mode mode_selected_</div><div class="ttdef"><b>Definition:</b> real_sense_grabber.h:257</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a922a07c6f3e1c1b811c42fa1fd2422bb">&#9670;&nbsp;</a></span>getName()</h2>

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<p>returns the name of the concrete subclass. </p>
<dl class="section return"><dt>返回</dt><dd>the name of the concrete driver. </dd></dl>

<p>实现了 <a class="el" href="classpcl_1_1_grabber.html#af5765700b48bea8865af2f90e46ea3e6">pcl::Grabber</a>.</p>
<div class="fragment"><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordflow">return</span> (std::string (<span class="stringliteral">&quot;RealSenseGrabber&quot;</span>));</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3d33159677dfd031e408b9b0b627b367">&#9670;&nbsp;</a></span>isRunning()</h2>

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<p>Indicates whether the grabber is streaming or not. This value is not defined for triggered devices. </p>
<dl class="section return"><dt>返回</dt><dd>true if grabber is running / streaming. False otherwise. </dd></dl>

<p>实现了 <a class="el" href="classpcl_1_1_grabber.html#ae3a9df18b055d26ba339dc9fac408a7f">pcl::Grabber</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#acceb4d31e228cbde706747a7d55115fb">&#9670;&nbsp;</a></span>setConfidenceThreshold()</h2>

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<p>Set the confidence threshold for depth data.</p>
<p>Valid range is [0..15]. Discarded points will have their coordinates set to NaNs). </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a12137a917228ddab4669ada9b603cb33">&#9670;&nbsp;</a></span>setMode()</h2>

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<p>Set desired capturing mode.</p>
<dl class="section note"><dt>注解</dt><dd>if the grabber is running and the new mode is different the one requested previously, grabber will be restarted. </dd></dl>

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<h2 class="groupheader">类成员变量说明</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a8563b6a9027821888fd3f73cbcaabbf5">&#9670;&nbsp;</a></span>mode_selected_</h2>

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          <td class="memname"><a class="el" href="structpcl_1_1_real_sense_grabber_1_1_mode.html">Mode</a> pcl::RealSenseGrabber::mode_selected_</td>
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<p>Capture mode selected by grabber (among the modes supported by the device), computed and stored on <a class="el" href="classpcl_1_1_real_sense_grabber.html#a2a313562aa36f4a39234bebde1317b6e" title="For devices that are streaming, the streams are started by calling this method. Trigger-based devices...">start()</a> </p>

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<h2 class="memtitle"><span class="permalink"><a href="#af4d2fa66ef223d1409af0235e46ed0f2">&#9670;&nbsp;</a></span>need_xyz_</h2>

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<p>Indicates whether there are subscribers for <a class="el" href="structpcl_1_1_point_x_y_z.html" title="A point structure representing Euclidean xyz coordinates. (SSE friendly)">PointXYZ</a> signal, computed and stored on <a class="el" href="classpcl_1_1_real_sense_grabber.html#a2a313562aa36f4a39234bebde1317b6e" title="For devices that are streaming, the streams are started by calling this method. Trigger-based devices...">start()</a> </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a70690d670c8fbeccb01da73694e23136">&#9670;&nbsp;</a></span>need_xyzrgba_</h2>

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<p>Indicates whether there are subscribers for <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html" title="A point structure representing Euclidean xyz coordinates, and the RGBA color.">PointXYZRGBA</a> signal, computed and stored on <a class="el" href="classpcl_1_1_real_sense_grabber.html#a2a313562aa36f4a39234bebde1317b6e" title="For devices that are streaming, the streams are started by calling this method. Trigger-based devices...">start()</a> </p>

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<h2 class="memtitle"><span class="permalink"><a href="#acd089f25f883c04abc7686855710ec4a">&#9670;&nbsp;</a></span>strict_</h2>

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<p>Whether or not selected capture mode should strictly match what the user has requested </p>

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<hr/>该类的文档由以下文件生成:<ul>
<li>io/include/pcl/io/<a class="el" href="real__sense__grabber_8h_source.html">real_sense_grabber.h</a></li>
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